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Commitments and Contingencies - Estimated Maturity Analysis (Details)
$ in Thousands
Sep. 30, 2021
USD ($)
Operating Leases  
2021 (remaining 3 months) $ 1,052
2022 4,285
2023 4,589
2024 4,726
2025 4,868
2026 and thereafter 8,626
Total minimum lease payments 28,146
San Carlos  
Operating Leases  
2021 (remaining 3 months) 0
2022 2,463
2023 2,988
2024 3,066
2025 3,145
2026 and thereafter 20,061
Total minimum lease payments $ 31,723